A Y3 type vertical take-off and landing fixed-wing aircraft

Abstract

This invention relates to the field of aircraft technology, specifically to a Y3 type vertical takeoff and landing fixed-wing aircraft, comprising a fuselage, side wings on the left and right sides of the fuselage, rotatable ailerons at the rear end of the side wings, and a first drive component for driving the ailerons to rotate between the side wings and the ailerons; a parachute housing structure is located inside the fuselage, connected to the fuselage via a mounting structure, and a rotatable opening and closing component is located on the outer side of the parachute housing structure, with a second drive component for driving the opening and closing component to rotate between the opening and closing component and the parachute housing structure; and a drive assembly for providing flight propulsion is located at the front end of the side wings. By enabling the two rotors of the wings to rotate, the UAV can take off and land vertically and increase the flight speed in fixed-wing mode, realizing vertical takeoff and landing of fixed-wing UAVs, and the rotatable rotors can provide greater horizontal thrust during horizontal flight.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a Y3 type vertical take-off and landing fixed-wing aircraft. Background Technology

[0002] Civilian drones are increasingly used in aerial surveying, logistics, emergency rescue, and agricultural inspection. In complex civilian operation scenarios, the requirements for drone flight time, speed, and take-off and landing sites are becoming increasingly stringent. Rotary-rotor hybrid drones combine the advantages of both fixed-wing and rotary-wing drones, achieving high-speed cruise, vertical take-off and landing, and hovering capabilities simultaneously. Their rotor mode enables vertical take-off and landing and low-speed flight, while their fixed-wing mode enables high-speed cruise and long-endurance, long-distance flight.

[0003] Current vertical takeoff and landing (VTOL) drones are often made by directly mounting a quadcopter system onto the fuselage of a fixed-wing aircraft. This design has revealed obvious drawbacks in the civilian sector: it not only increases the weight of the aircraft and encroaches on the space of the payload (such as surveying equipment, logistics packages, etc.), but also significantly increases drag during flight. The decrease in weight characteristics seriously affects the aerodynamic performance of the drone during fixed-wing flight, thereby greatly shortening the endurance of civilian operations.

[0004] In comparison, the tri-rotor (Y3 type) UAV has significant advantages. By reducing one motor and rotor, the weight of the UAV is reduced, making its structure more compact. The addition of a micro-servo allows one of the propellers to rotate, thus enabling it to counteract the torque generated by its own blades. On one hand, the Y3 configuration is more compact for vertical takeoff and landing, eliminating the need for a symmetrical power structure. On the other hand, due to the fewer rotors and lower energy consumption, its flight direction can be aligned with the fuselage direction, resulting in better aerodynamic performance. This effectively improves the single-operation endurance and economic efficiency of civilian UAVs.

[0005] However, existing vertical takeoff and landing (VTOL) drones still have some shortcomings in their civilian design. For example, in civilian airspace where safety requirements are extremely high, most existing drones lack effective emergency protection mechanisms in the event of a malfunction or loss of control, potentially leading to crashes. This not only results in the destruction of expensive equipment and payloads but also greatly increases the risk of serious ground-based personal injury and property damage. Furthermore, while composite flight has been achieved in terms of flight control and mode switching, the structural design has not been fully optimized to provide more flexible and reliable handling performance. In terms of structural design, there is still room for improvement in the integration of the rotating mechanism, auxiliary power unit, and emergency parachute to enhance the efficiency of component coordination and the overall reliability of the system. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a Y3-type vertical takeoff and landing fixed-wing aircraft. This solves the problem of directly adding a quadcopter system to the fixed-wing fuselage of a traditional vertical takeoff and landing UAV, which not only increases the aircraft's weight but also increases drag during flight, thus reducing its endurance. Adding a quadcopter system degrades the aircraft's weight characteristics, affecting its aerodynamic performance during fixed-wing flight and reducing its controllability to some extent.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a Y3 type vertical takeoff and landing fixed-wing aircraft, comprising a fuselage, side wings on the left and right sides of the fuselage, a rotatable aileron at the rear end of the side wings, and a first driving component for driving the aileron to rotate between the side wings and the aileron; a parachute housing structure is provided inside the fuselage, the parachute housing structure is connected to the fuselage via an installation structure, a rotatable opening and closing component is provided on the outer side of the parachute housing structure, and a second driving component for driving the opening and closing component to rotate is provided between the opening and closing component and the parachute housing structure; a driving assembly for providing flight power is provided at the front end of the side wings, the opening and closing component includes a first rotating door and a second rotating door, the first rotating door being rotatably connected to the left outer wall of the parachute housing structure, and the second rotating door being rotatably connected to the right outer wall of the parachute housing structure.

[0008] Preferably, the drive assembly includes a motor mounting base connected to the front end of the side wing.

[0009] Preferably, the rear end of the fuselage is provided with an auxiliary power device, which includes a power motor and a propeller, and the output end of the power motor is connected to the propeller.

[0010] Preferably, the motor mounting base is provided with a steering drive component, and the output end of the steering drive component is connected to a rotating part.

[0011] Preferably, the front end of the rotating part is provided with a power mounting base, and the front end of the power mounting base is provided with a power component for driving the blade to rotate.

[0012] Preferably, the output end of the power component is connected to a rotating component, and the front end of the rotating component is connected to a main blade.

[0013] Preferably, the inner side of the parachute housing structure is provided with a connecting part, the connecting part is provided with a second rotating shaft, and the outer ring of the second rotating shaft is rotatably sleeved with a rotating sleeve.

[0014] Preferably, the top of the rotating sleeve is connected to a telescopic drive component, and the output end of the telescopic drive component is connected to a connecting structure on the opening and closing component. The connecting structure includes a first connecting plate, a first rotating shaft, and a first rotating sleeve. The bottom of the first rotating door and the second rotating door are respectively fixedly connected to two first connecting plates, and a first rotating shaft is fixedly connected between the two first connecting plates. The outer ring of the first rotating shaft is rotatably connected to the first rotating sleeve, and the first rotating sleeve is connected to the output end of the second drive component.

[0015] A preferred control method for a Y3 type vertical takeoff and landing fixed-wing aircraft is as follows: A mathematical model for control distribution is constructed, using virtual control torque and virtual thrust as inputs, to obtain the desired torque. The expression for the torque control distributor is as follows: ; Where c· represents cos(·), s· represents sin(·), ωi and αi represent the rotational speed and rotation angle of rotor i, respectively, (rix, riy) is the position of rotor i relative to the center of gravity, kf and kd represent the thrust constant and torque constant of the rotor, respectively, Γx represents the virtual roll control torque, Γy represents the virtual pitch control torque, Γz represents the virtual yaw control torque, △α represents the differential angle used for yaw control, α represents the reference rotation angle, α1 represents the first rotor rotation angle, and α2 represents the second rotor rotation angle; The formula for calculating the rotation angle is as follows: ; Where α represents the reference rotation angle, which is related to the flight mode and has a value range of [-π / 2, 0], and the rotor mode α = 0; δ is a positive constant.

[0016] Preferably, the UAV encounters a coupling problem when allocating wing rotation speed and rotation angle, and the expression of its control allocation coupling matrix is ​​as follows: ; ; In the formula, H ∈ R 3×3 is the control allocation matrix of the UAV.

[0017] Working principle: When the drone is in flight, it takes off vertically. This stage is the rotor control stage, which means that lift is provided only by the three rotors. The aircraft takes off manually according to the throttle input given by the remote controller, switching between vertical and horizontal modes. After taking off to a certain altitude, the motors parallel to the wings deflect 90°, realizing the conversion from rotor mode to fixed-wing mode. The rotor control and fixed-wing control work together for integrated control. During the fixed-wing flight stage, the tail motor of the rotor is off, and only the leading edge of the wing provides thrust to the aircraft. The lift of the aircraft is switched from being provided by the rotors to being provided by the wings. At this time, the rotor control switches to monitoring mode. During the horizontal-to-vertical transition, the drone will deflect again by 90° at the motors parallel to the wings in fixed-wing mode. Through integrated rotor and fixed-wing control, the drone will switch from fixed-wing to rotor mode. After the transition from rotor to fixed-wing mode is complete, the drone will fly towards the landing point in rotor mode. This can be done manually or by using the remote controller's DIP switch after reaching above the target point for a point-to-point landing. In case of damage, the first rotating door 17 will open via the left telescopic drive 24, and the second rotating door 17 will open via the right telescopic drive 24. When door 14 opens, the parachute inside the parachute housing 15 automatically deploys to protect the drone and prevent it from crashing. The steering drive 8 is installed via motor mounting bracket 2. The steering drive 8 drives the rotating part 9 to rotate, which in turn drives the power mounting bracket 10 to rotate, which in turn drives the power component 11 to rotate. The power component 11 drives the rotating part 6 to rotate, which in turn drives the main rotor blade 7 to rotate. The steering drive 8 can be used to adjust the power component 11, and the first drive 4 can be used to adjust the angle of the aileron 5 to facilitate landing.

[0018] This invention provides a Y3 type vertical takeoff and landing fixed-wing aircraft. It has the following beneficial effects: 1. This invention provides effective emergency protection for drones by setting a parachute housing structure and a rotatable opening and closing component inside the fuselage, including a first rotating door and a second rotating door, and opening and closing the component by a second driving component in an emergency, thereby realizing the automatic deployment of the parachute, avoiding the risk of crash, and reducing economic losses and potential safety hazards.

[0019] 2. This invention enables the two rotors of the wing to rotate through the fuselage, side wings, ailerons, first drive component, motor mounting base, steering drive component, power mounting base and power component, allowing the UAV to take off and land vertically and increasing the flight speed in fixed-wing mode. It can realize the vertical take-off and landing of fixed-wing UAVs, and the rotatable rotors can provide greater horizontal thrust during horizontal flight, making the UAV's horizontal flight speed faster. At the same time, the carbon fiber wings and vertical tail can make the fuselage lighter and the flight more stable. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the motor mounting base of the present invention; Figure 3 This is a three-dimensional structural diagram of the present invention; Figure 4 This is a schematic diagram of the parachute housing structure of the present invention.

[0021] The components are as follows: 1. Fuselage; 2. Motor mounting base; 3. Side wing; 4. First drive component; 5. Aileron; 6. Rotating component; 7. Main rotor blade; 8. Steering drive component; 9. Rotating part; 10. Power mounting base; 11. Power component; 12. Power motor; 13. Propeller blade; 14. Second rotating door; 15. Parachute housing structure; 16. Mounting structure; 17. First rotating door; 18. First connecting plate; 19. First rotating shaft; 20. First rotating sleeve; 21. Connecting part; 22. Second rotating shaft; 23. Rotating sleeve; 24. Telescopic drive component. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1: Please see Figures 1 to 4 This invention provides a Y3-type vertical takeoff and landing fixed-wing aircraft, including a fuselage 1, with symmetrically arranged side wings 3 on the left and right sides of the fuselage 1. The side wings 3 primarily provide lift in fixed-wing flight mode and are key components for efficient cruise control of the UAV. To achieve precise control of flight attitude, a rotatable aileron 5 is provided at the rear end of the side wings 3. The aileron 5 can change the effective geometry of the wing during flight, thereby adjusting the roll attitude of the UAV. To drive the aileron 5 to rotate precisely, a first drive unit 4 is provided between the side wings 3 and the aileron 5. This first drive unit 4 can be a servo motor or a servo motor, etc., which receives commands from the flight control system to precisely control the deflection angle of the aileron 5, thereby achieving roll control of the UAV in fixed-wing mode.

[0024] To enhance the safety of the drone in emergency situations, a parachute housing structure 15 is provided inside the fuselage 1. This parachute housing structure 15 is an internal space for storing a folded parachute. The parachute housing structure 15 is reliably connected to the fuselage 1 via a mounting structure 16, ensuring that the parachute housing structure 15 will not come loose during violent movements of the drone. A rotatable opening and closing component is provided on the outer side of the parachute housing structure 15 to open and release the parachute when needed. A second driving component 24 is provided between the opening and closing component and the parachute housing structure 15 to drive the opening and closing component to rotate. The second driving component 24 can be an electromagnetic actuator, a servo motor, or a telescopic actuator such as a piston-cylinder structure, and its working principle is to quickly drive the opening and closing component to open upon receiving an emergency signal. In this embodiment, the opening and closing component specifically includes a first rotating door 17 and a second rotating door 14. The first rotating door 17 is rotatably connected to the left outer wall of the parachute housing structure 15, while the second rotating door 14 is rotatably connected to the right outer wall of the parachute housing structure 15. This double-door design allows the parachute to deploy faster and more stably during release. When the drone malfunctions, the second drive unit 24 will drive the first rotating door 17 and the second rotating door 14 to open outwards, thereby causing the parachute to be deployed quickly and enabling the drone to land safely.

[0025] To provide flight propulsion, a drive assembly is located at the leading edge of the side wing 3. This drive assembly is the core power source for the UAV to achieve vertical takeoff and landing and horizontal cruise. During level flight, the side wing 3 and the aileron 5 work together, with the first drive component 4 controlling the aileron 5 to provide roll control, enabling the UAV to maintain a stable cruise attitude. In the event of vertical takeoff and landing or in an emergency, the parachute housing structure 15 and its opening and closing mechanism provide crucial emergency protection.

[0026] Example 2: Based on Embodiment 1, this embodiment further describes the detailed structure of the drive component and an auxiliary power device. Please refer to [link to Embodiment 1]. Figures 1 to 4 .

[0027] In this embodiment, the specific structure of the drive assembly includes a motor mounting base 2, which is connected to the front end of the side wing 3. The motor mounting base 2 provides a robust mounting platform for the drive assembly. Preferably, the motor mounting base 2 houses a steering drive component 8. This steering drive component 8 is a key mechanism for realizing rotor rotation and can be a servo motor or a hydraulic / pneumatic actuator, etc., used to precisely control the rotor's attitude. The output end of the steering drive component 8 is connected to a rotating part 9. The rotating part 9 acts as an intermediate transmission component, capable of transmitting the rotational output of the steering drive component 8 to subsequent power components.

[0028] Furthermore, a power mounting base 10 is provided at the front end of the rotating part 9. The power mounting base 10 is used to fix the component that provides direct power. A power component 11 for driving the blade rotation is provided at the front end of the power mounting base 10. The power component 11 can be a brushless DC motor, etc., and its output shaft is used to connect and drive the blade rotation to generate thrust. A rotating component 6 is connected to the output end of the power component 11, and the main blade 7 is connected to the front end of the rotating component 6. The main blade 7 is the component that directly generates lift and thrust. The rotating part 9 is rotated by the steering drive component 8, which in turn causes the power mounting base 10, the power component 11, the rotating component 6, and the main blade 7 to deflect by 90° as a whole, thereby realizing the conversion between rotor mode and fixed-wing mode. In rotor mode, the axis of the main blade 7 is perpendicular to the ground, providing vertical lift; in fixed-wing mode, the axis of the main blade 7 is parallel to the length of the fuselage, providing horizontal thrust.

[0029] In addition, to provide more flexible attitude control or additional thrust, an auxiliary power unit is located at the rear of the fuselage 1. The auxiliary power unit includes a power motor 12 and propeller blades 13. The output of the power motor 12 is connected to the propeller blades 13. This auxiliary power unit can be activated during the UAV's vertical takeoff and landing phase or when precise attitude adjustments are required, providing additional thrust or counter-torque to enhance the UAV's stability and maneuverability. For example, during the initial stages of vertical takeoff, in addition to the lift provided by the main propeller blades 7, the auxiliary power unit can also provide a certain amount of vertical thrust or be used to balance the aircraft's pitch or yaw attitude.

[0030] During flight, the UAV first undergoes a vertical takeoff phase, which is the rotor control phase. Lift is provided solely by the drive assembly at the front of the side wing, including the main rotor blade 7, and the auxiliary power unit at the rear of the fuselage 1. At this time, the axis of the main rotor blade 7 is perpendicular to the ground, providing vertical lift. The UAV operator manually takes off using the throttle input provided by the remote controller. Once a certain altitude is reached, the UAV performs a vertical-to-horizontal transition. The steering drive component 8 causes the entire drive assembly, including the main rotor blade 7, to deflect 90°, achieving a switch from rotor mode to fixed-wing mode. During this phase, rotor control and fixed-wing control work together through the ailerons 5 for integrated control. The UAV then enters the flight path phase, which is the fixed-wing flight phase. During this phase, the power motor 12 in the auxiliary power unit is usually off, and only the main rotor blade 7 at the front of the side wing 3 provides horizontal thrust after rotation, providing power. The lift of the aircraft is primarily provided by the side wing 3. During this phase, rotor control switches to monitoring mode. When landing is required, the drone performs a horizontal-to-vertical transition, and the steering drive component 8 deflects the drive assembly by 90°, switching the drone from fixed-wing mode to rotor mode, and then landing in rotor mode. Manual landing is possible, or after reaching above the target point, a fixed-point landing can be achieved via the flight controller's DIP switch.

[0031] When the drone is damaged or encounters an emergency during flight, the control system triggers the parachute release procedure. The first rotating door 17 is opened by the second drive component 24, such as the telescopic drive component, and the second rotating door 14 is opened at the same time, so that the parachute inside the parachute housing structure 15 can be automatically ejected and deployed to protect the drone, prevent the drone from crashing, and minimize losses.

[0032] To ensure reliable parachute deployment, a connecting portion 21 is provided on the inner side of the parachute housing structure 15. This connecting portion 21 provides a support and rotational pivot within the parachute housing structure 15. A second rotating shaft 22 is provided within the connecting portion 21, serving as a fixed shaft for the rotation of the opening and closing component. A rotating sleeve 23 is rotatably fitted around the outer ring of the second rotating shaft 22. The rotating sleeve 23 is a transmission component between the opening and closing component and the second driving member 24.

[0033] A telescopic drive member 24 is connected to the top of the rotating sleeve 23. The telescopic drive member 24, acting as a second drive member, has its output end connected to a connecting structure on the opening and closing component. This connecting structure is crucial for connecting the telescopic drive member 24 to the first rotating door 17 and the second rotating door 14, converting linear telescopic motion into door rotation. Specifically, the connecting structure includes a first connecting plate 18, a first rotating shaft 19, and a first rotating sleeve 20. Two first connecting plates 18 are fixedly connected to the bottom of the first rotating door 17 and the second rotating door 14, respectively. These two first connecting plates 18 are symmetrically arranged, providing a fulcrum for door rotation. A first rotating shaft 19 is fixedly connected between the two opposing first connecting plates 18. This first rotating shaft 19 is the pivot between the connecting plates 18. A first rotating sleeve 20 is rotatably connected to the outer ring of the first rotating shaft 19, and the first rotating sleeve 20 is connected to the output end of the telescopic drive member 24.

[0034] When the telescopic drive component 24 receives a command to open the parachute, its output end extends or retracts. Through the connected first rotating sleeve 20 and first rotating shaft 19, it drives the first connecting plate 18, causing the first rotating door 17 and the second rotating door 14 to flip outwards around their respective rotating connection points, exposing the parachute compartment and enabling the parachute to deploy smoothly. This structure not only ensures reliable door opening but also has a compact structure, occupies little space, and has minimal impact on the aerodynamic performance of the UAV. The telescopic drive component 24 precisely controls the opening angle and speed of the opening and closing components, ensuring that the parachute is released at the optimal time and in the optimal attitude, thereby maximizing the success rate of UAV recovery in emergency situations.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A Y3 type vertical takeoff and landing fixed-wing aircraft, comprising a fuselage (1), characterized in that: The fuselage (1) has side wings (3) on the left and right sides, and a rotatable aileron (5) is provided at the rear end of the side wings (3). A first driving member (4) for driving the aileron (5) to rotate is provided between the side wings (3) and the aileron (5). The fuselage (1) has a parachute housing structure (15) inside, and the parachute housing structure (15) is connected to the fuselage (1) through a mounting structure (16). A rotatable opening and closing component is provided on the outside of the parachute housing structure (15). A second driving member (24) for driving the opening and closing component to rotate is provided between the opening and closing component and the parachute housing structure (15). The front end of the side wings (3) has a driving component for providing flight power. The opening and closing component includes a first rotating door (17) and a second rotating door (14). The first rotating door (17) is rotatably connected to the left outer wall of the parachute housing structure (15), and the second rotating door (14) is rotatably connected to the right outer wall of the parachute housing structure (15).

2. The Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 1, characterized in that: The drive assembly includes a motor mounting base (2), which is connected to the front end of the side wing (3).

3. The Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 1, characterized in that: The rear end of the fuselage (1) is provided with an auxiliary power device, which includes a power motor (12) and a blade (13). The output end of the power motor (12) is connected to the blade (13).

4. A Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 2, characterized in that: The motor mounting base (2) is provided with a steering drive component (8), and the output end of the steering drive component (8) is connected to a rotating part (9).

5. A Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 4, characterized in that: The rotating part (9) has a power mounting base (10) at its front end, and the power mounting base (10) has a power component (11) at its front end for driving the blade to rotate.

6. A Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 5, characterized in that: The output end of the power component (11) is connected to a rotating component (6), and the front end of the rotating component (6) is connected to a main blade (7).

7. A Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 1, characterized in that: The parachute housing structure (15) has a connecting part (21) on its inner side, and a second rotating shaft (22) is provided inside the connecting part (21). A rotating sleeve (23) is rotatably sleeved on the outer ring of the second rotating shaft (22).

8. A Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 7, characterized in that: The top of the rotating sleeve (23) is connected to a telescopic drive component (24). The output end of the telescopic drive component (24) is connected to the connection structure on the opening and closing component. The connection structure includes a first connecting plate (18), a first rotating shaft (19), and a first rotating sleeve (20). The bottom of the first rotating door (17) and the second rotating door (14) are respectively fixedly connected to two first connecting plates (18). A first rotating shaft (19) is fixedly connected between the two first connecting plates (18). The first rotating sleeve (20) is rotatably connected to the outer ring of the first rotating shaft (19), and the first rotating sleeve (20) is connected to the output end of the second drive component (24).

9. The control method for a Y3 type vertical takeoff and landing fixed-wing aircraft according to any one of claims 1-8, characterized in that: Specifically as follows: A mathematical model for control distribution is constructed, using virtual control torque and virtual thrust as inputs, to obtain the desired torque. The expression for the torque control distributor is as follows: ； Where c· represents cos(·), s· represents sin(·), ωi and αi represent the rotational speed and rotation angle of rotor i, respectively, (rix, riy) is the position of rotor i relative to the center of gravity, kf and kd represent the thrust constant and torque constant of the rotor, respectively, Γx represents the virtual roll control torque, Γy represents the virtual pitch control torque, Γz represents the virtual yaw control torque, △α represents the differential angle used for yaw control, α represents the reference rotation angle, α1 represents the first rotor rotation angle, and α2 represents the second rotor rotation angle; The formula for calculating the rotation angle is as follows: ； Where α represents the reference rotation angle, which is related to the flight mode and has a value range of [-π / 2, 0], and the rotor mode α = 0; δ is a positive constant.

10. The control method for a Y3 type vertical takeoff and landing fixed-wing aircraft according to claim 9, characterized in that: When allocating wing rotation speed and rotation angle, UAVs encounter the problem of allocation coupling. The expression for the control allocation coupling matrix is ​​as follows: ； ； In the formula, H ∈ R 3×3 is the control allocation matrix of the UAV.

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